EP0221884A1 - Dispositif pour la détermination du changement de direction de marche d'une haveuse - Google Patents

Dispositif pour la détermination du changement de direction de marche d'une haveuse Download PDF

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Publication number
EP0221884A1
EP0221884A1 EP86890274A EP86890274A EP0221884A1 EP 0221884 A1 EP0221884 A1 EP 0221884A1 EP 86890274 A EP86890274 A EP 86890274A EP 86890274 A EP86890274 A EP 86890274A EP 0221884 A1 EP0221884 A1 EP 0221884A1
Authority
EP
European Patent Office
Prior art keywords
transmitter
receiver
cutting machine
evaluation circuit
machine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP86890274A
Other languages
German (de)
English (en)
Inventor
Eduard Dipl.-Ing. Schellenberg
Gerhard Dipl.-Ing. Steinbrucker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Voestalpine AG
Original Assignee
Voestalpine AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Voestalpine AG filed Critical Voestalpine AG
Publication of EP0221884A1 publication Critical patent/EP0221884A1/fr
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/06—Tracing profiles of cavities, e.g. tunnels

Definitions

  • the invention relates to a device for determining the change of direction of a cutting machine, with a laser beam transmitter arranged in the route and a receiver arranged on the machine.
  • the present invention now aims to enable as simple a detection as possible for changes in the direction of travel of a cutting machine and to enlarge the working area within which such changes in the direction of travel are detected.
  • the invention essentially consists in that at least the transmitter an axis intersecting the bottom of the line is pivotally arranged that the pivot drive of the transmitter is formed by a servo motor, that angular position sensors are provided for detecting the pivot position of the transmitter, and that the receiver and the angular position transmitter of the transmitter are connected to an evaluation circuit. Due to the fact that the transmitter itself is arranged so as to be pivotable, in deviation from the known constructions, a large range of changes in position can also be detected far outside of a route beacon by pivoting the transmitter.
  • the horizontal and possibly also vertical swivel angle of such a transmitter only indicates the direction in which the receiver is located.
  • the angular position transmitter and the receiver are connected to an evaluation circuit. Knowing the exact distance of the receiver from the transmitter, a relatively exact position determination of the cutting machine can already be carried out when determining solid angles per se. For changes in direction, however, the change in the swivel angle of the transmitter is sufficient and considerably simplified methods can be used to correct the direction of travel of the cutting machine. Even if the exact distance between the receiver and the transmitter is not known, it can be determined by changing the direction of travel specification on the cutting machine and checking after a certain time interval whether the intended change in direction of travel leads to the desired changes in the measured swivel angle of the transmitter.
  • the design is such that the transmitter is pivotably arranged in two intersecting planes, separate angular position transmitters being provided for each of the two pivot planes. In this way solid angles, i.e. a horizontal and a vertical pivoting, measured and relatively precise controls of the direction of travel can already be derived from such signals.
  • the design is such that the swivel drive of the transmitter is connected to the evaluation circuit and that the swivel drive is driven to move in opposite directions after passing through the maximum intensity of the receiver signal. In order to be able to determine such an intensity maximum, several sensors are generally required in the receiver, in the simplest case four quadrants of a flat detector giving separate signals.
  • the intensity maximum then corresponds to that position in which all four quadrants are acted upon by the transmitter in their region which is adjacent to one another in the middle, so that all four quadrants of the receiver deliver a signal.
  • the swivel drive of the transmitter can be regulated independently of one another in both planes as a function of the intensity maximum of the receiver signal, as a result of which a relatively precise determination of the direction in which the receiver is oriented relative to the transmitter is possible.
  • the sensitivity of the measurement can be increased further in that inclinometers are additionally arranged on the cutting machine, the signal lines of which are connected to the evaluation circuit.
  • the beam direction of the pivotable transmitter with respect to a reference beam for example a theoretical route guidance beam
  • a reference beam for example a theoretical route guidance beam
  • This reference value must be entered beforehand to get exact angles to measure measurements against a clear reference.
  • the angular position of the machine in relation to the line beam can be calculated at any time. If, starting from an orientation in which the laser beam of the orientable transmitter strikes the detector exactly, the machine moves out of the specified direction, then the measured radiation intensity first becomes lower. A corresponding follow-up control can aim to bring this intensity to a maximum in the case of a given beam direction.
  • the training can also be carried out in such a way that the laser beam is continuously moved in an oscillating manner over an area to be monitored.
  • an angular position is measured at certain points in time, and when the beam hits the receiver, the receiver delivers a signal.
  • the angular position measured at this point in time can be adopted as a reference value, whereupon even if the exact distance between the receiver and the transmitter is not known, regulation can take place in such a way that the effect of corrections to the direction of travel of the cutting machine is evaluated again after predetermined time intervals .
  • the correction quantities calculated in each case can be made dependent on previous correction quantities and their effects, so that it can be determined after predetermined points in time whether the correction that was made was sufficient or not. If the respective correction is not sufficient, a smaller correction can then be specified at shorter intervals in order to be able to determine the effect of corrections more quickly in this way.
  • the design is preferably such that the oscillating swivel drive of the transmitter is offset line by line in the direction of the sole or ridge after a swivel movement about an axis intersecting the sole and that the intensity maxima of the receiver signal are recorded over time and can be evaluated by the evaluation circuit.
  • the receiver can advantageously also be fixed in an orientable manner on the cutting machine and be equipped with a swivel drive and angular position transmitters, while signal lines are connected to the evaluation circuit.
  • FIG. 1 shows a schematic illustration of the device in plan view
  • FIG. 2 shows an enlarged view of the pivotable transmitter with possible evaluation electronics
  • FIG. 3 shows an alternative mode of operation of the pivotable transmitter with appropriately adapted evaluation electronics.
  • a route guidance beam 1 is indicated in FIG. 1, which serves as a reference value for the subsequent measurements.
  • a pivotable laser beam transmitter 2 is provided, which can be pivoted from the position shown into a position in which the laser beam 3 strikes a receiver 4 of a cutting machine 5. By pivoting the laser beam transmitter 2 through an angle, a substitute angle is measured, which gives the direction of the deviation of the position of the tunneling machine.
  • the exact position of the tunneling machine cannot be specified exactly when the laser beam 3 strikes the receiver 4, since, as the drawing in FIG. 1 shows, the machine itself can be rotated through an angle from the axis of the laser beam 3.
  • detector elements are known which also respond in a directionally sensitive manner and can either directly measure the angle by measurement or result in an angle value for the angle by pivoting the receiver 4.
  • the machine itself can still use its machines perform a rolling movement along the longitudinal axis 6, and such deviations in the machine position can be detected, for example, by an inclinometer 7, the signals of which can likewise be fed to an evaluation circuit.
  • Knowing the angles and the measured value of the inclinometer can already make a relatively exact prediction of necessary corrections.
  • a pivotable laser beam transmitter 2 is now shown, which is pivotably mounted about an essentially vertical axis 8 and an essentially horizontal axis 9.
  • the swivel drive is effected in each case by a servo motor 10 for swiveling in the horizontal plane and a servo motor 11 for swiveling in the vertical plane.
  • Both servomotors 10 and 11 are equipped with resolvers so that the horizontal or vertical swivel angle can be measured.
  • the laser beam is again designated 3, whereas the route guide beam is also designated 1.
  • the components arranged on the cutting machine 5, namely the radiation detector 4 or receiver and the inclinometer 7, are connected to the evaluation electronics 14 via signal lines 12 and 13.
  • the measured radiation intensity can also be passed on to the control electronics 14 as a function of the angle of incidence via the signal line 12.
  • the measured values of the resolvers of the servomotors 10 and 11 are passed on to the evaluation circuit via signal lines 15 and 16.
  • motor control lines 17 for the servo motor 10 and 18 for the servo motor 11 are provided. With such a design, the angle measurements indicated schematically in FIG. 1 can be carried out.
  • Fig. 3 an alternative way of evaluating the measured values supplied by the resolvers of the servomotors is shown schematically.
  • the laser transmitter 2 is moved continuously in the form of a line in the direction of the scanning line 19. With this continuous oscillating movement, a signal is emitted every time the laser beam strikes the receiver 4 during its swiveling path.
  • the receiver 4 delivers an impact pulse which is linked to the pivoting angle (t) measured at the respective point in time in the evaluation circuit 14.
  • the connection can be made by a simple AND gate 20, the respective (t) value being analyzed for horizontal and vertical values when a pulse occurs at the same time.
  • An offset angle results from these two angles, and a simple sequence control can subsequently be used in order to comply with the conditions shown schematically in FIG. 1.
  • the control deviations can be within a specified range. If a circuit arrangement, such as is shown schematically in FIG. 2, is used, the control deviation can be determined separately in the horizontal and vertical directions, these controls in succession for maximum radiation intensity at the receiver be made.
  • pivoting of the receiver is not necessary since the angular deviation of the angle is registered directly by the receiver in a single orientation.
  • the evaluation of the and angle values can subsequently be carried out in such a way that the target profile is rotated, tilted or displaced vertically or horizontally relative to the machine.
  • the device according to the invention is also highly suitable for opencast mining, in which large-scale deviations in the position of a machine are usually observed.
  • a plurality of machines can be monitored with a single laser transmitter, the position of a plurality of machines being able to be monitored directly by triangulation and trigonometric evaluation when using two pivotable receivers.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
EP86890274A 1985-11-08 1986-10-06 Dispositif pour la détermination du changement de direction de marche d'une haveuse Ceased EP0221884A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT3253/85 1985-11-08
AT325385A AT384076B (de) 1985-11-08 1985-11-08 Einrichtung zur bestimmung der fahrtrichtungs|nderung einer schraemmaschine

Publications (1)

Publication Number Publication Date
EP0221884A1 true EP0221884A1 (fr) 1987-05-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP86890274A Ceased EP0221884A1 (fr) 1985-11-08 1986-10-06 Dispositif pour la détermination du changement de direction de marche d'une haveuse

Country Status (2)

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EP (1) EP0221884A1 (fr)
AT (1) AT384076B (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT409885B (de) * 1995-12-27 2002-12-27 Mbt Holding Ag Verfahren zum beschichten von tunnelinnenwänden mit spritzbeton und einrichtung zur durchführung des verfahrens
DE102007012752A1 (de) * 2007-03-16 2008-10-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Laserzeigevorrichtung und Verfahren zur Ansteuerung derselben

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1473931B (de) * Contraves AG, Zürich (Schweiz) Eii-ir-i chtung zur Ermittlung der Istlage einer Tunnelbohrmaschine in einem raumfesten Koordinatensystem
DE2030126A1 (de) * 1969-06-18 1971-01-07 Compagnie Industrielle Des Lasers, Marcoussis (Frankreich) Verfahren und Vorrichtung zur Maschi nenlenkung
DE2511419A1 (de) * 1975-03-15 1976-09-23 Eickhoff Geb Vortriebsmaschine mit einem an einem allseitig schwenkbaren tragarm gelagerten loesewerkzeug

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2714506C2 (de) * 1977-04-01 1982-06-16 Bergwerksverband Gmbh, 4300 Essen Verfahren und Einrichtung zur Überwachung und Steuerung von Strebausrüstungen
DE2823995C2 (de) * 1978-06-01 1983-09-22 Gewerkschaft Eisenhütte Westfalia, 4670 Lünen An einem Hobel angeordneter Sender als Funkendschalter und/oder Hobelwegmesser u.dgl.
AT378572B (de) * 1983-07-15 1985-08-26 Voest Alpine Ag Korrektureinrichtung fuer die steuerung oder anzeige der position eines schraemwerkzeuges einer schraemmaschine

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1473931B (de) * Contraves AG, Zürich (Schweiz) Eii-ir-i chtung zur Ermittlung der Istlage einer Tunnelbohrmaschine in einem raumfesten Koordinatensystem
DE2030126A1 (de) * 1969-06-18 1971-01-07 Compagnie Industrielle Des Lasers, Marcoussis (Frankreich) Verfahren und Vorrichtung zur Maschi nenlenkung
DE2511419A1 (de) * 1975-03-15 1976-09-23 Eickhoff Geb Vortriebsmaschine mit einem an einem allseitig schwenkbaren tragarm gelagerten loesewerkzeug

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SOVIET INVENTIONS ILLUSTRATED, Sektion Mechanik, Woche 8536, 17. Oktober 1985, Zusammenfassungs Nr. 222 004, Q49, Derwent Publications Ltd., London, GB; & SU - A - 1 138 496 (ORE SITE DRYING) 07.02.1985 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT409885B (de) * 1995-12-27 2002-12-27 Mbt Holding Ag Verfahren zum beschichten von tunnelinnenwänden mit spritzbeton und einrichtung zur durchführung des verfahrens
DE102007012752A1 (de) * 2007-03-16 2008-10-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Laserzeigevorrichtung und Verfahren zur Ansteuerung derselben
DE102007012752B4 (de) * 2007-03-16 2008-11-27 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Laserzeigevorrichtung und Verfahren zur Ansteuerung derselben

Also Published As

Publication number Publication date
ATA325385A (de) 1987-02-15
AT384076B (de) 1987-09-25

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Inventor name: SCHELLENBERG, EDUARD, DIPL.-ING.